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    <title>ammo物理引擎扩展支持  | Mars3D | 三维地图 | 火星科技 | 合肥火星科技有限公司</title>

    <!--第三方lib-->
    <script
      type="text/javascript"
      src="../lib/include-lib.js"
      libpath="../lib/"
      include="jquery,font-awesome,bootstrap,layer,haoutil,turf,mars3d,meshVisualizer"
    ></script>

    <link href="css/style.css" rel="stylesheet" />
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  <body class="dark">
    <div id="mars3dContainer" class="mars3d-container"></div>

    <!-- 面板 -->
    <div class="infoview">操作提示： Q 左摆动、 A 右摆动</div>



    <script src="./js/common.js"></script>
    <script type="text/javascript">
      "use script"; //开发环境建议开启严格模式

      var map;

      function initMap(options) {
        //合并属性参数，可覆盖config.json中的对应配置
        var mapOptions = mars3d.Util.merge(options, {
          scene: {
            center: { lat: 31.834535, lng: 117.21992, alt: 80, heading: 38, pitch: -34 },
            fxaa: true,
          },
        });

        //创建三维地球场景
        map = new mars3d.Map("mars3dContainer", mapOptions);

        var MeshVisualizer = Cesium.MeshVisualizer;
        var Mesh = Cesium.Mesh;
        var MeshMaterial = Cesium.MeshMaterial;
        var FramebufferTexture = Cesium.FramebufferTexture;
        var GeometryUtils = Cesium.GeometryUtils;
        var LOD = Cesium.LOD;
        var PlaneBufferGeometry = Cesium.PlaneBufferGeometry;
        var BasicMeshMaterial = Cesium.BasicMeshMaterial;
        var MeshPhongMaterial = Cesium.MeshPhongMaterial;

        var center = Cesium.Cartesian3.fromDegrees(117.220206, 31.834866, 50);
        var modelMatrix = Cesium.Transforms.eastNorthUpToFixedFrame(center);

        var meshVisualizer = new MeshVisualizer({
          modelMatrix: modelMatrix,
          up: { y: 1 },
          referenceAxisParameter: {
            length: 100,
            width: 0.05,
            headLength: 2,
            headWidth: 0.1,
          },
        });
        map.scene.primitives.add(meshVisualizer);
        meshVisualizer.showReference = true; //显示坐标轴

        Ammo().then(function () {
          // Physics variables
          var gravityConstant = -9.8;
          var collisionConfiguration;
          var dispatcher;
          var broadphase;
          var solver;
          var physicsWorld;
          var rigidBodies = [];
          var margin = 0.05;
          var hinge;
          var cloth;
          var transformAux1 = new Ammo.btTransform();
          var armMovement = 0;
          var softBodySolver;

          function initPhysics() {
            // Physics configuration

            collisionConfiguration = new Ammo.btSoftBodyRigidBodyCollisionConfiguration();
            dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration);
            broadphase = new Ammo.btDbvtBroadphase();
            solver = new Ammo.btSequentialImpulseConstraintSolver();
            softBodySolver = new Ammo.btDefaultSoftBodySolver();
            physicsWorld = new Ammo.btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration, softBodySolver);
            physicsWorld.setGravity(new Ammo.btVector3(0, gravityConstant, 0));
            physicsWorld.getWorldInfo().set_m_gravity(new Ammo.btVector3(0, gravityConstant, 0));
          }

          function createRandomColor() {
            return Cesium.Color.fromRandom({ alpha: 1 }); //fromRgba(Math.floor(Math.random() * (1 << 24)));
          }
          function createMaterial() {
            return new MeshPhongMaterial({
              defaultColor: createRandomColor(),
              side: MeshMaterial.Sides.DOUBLE,
              translucent: false,
            });
          }
          function createObjects() {
            var pos = new Cesium.Cartesian3();
            var quat = new Cesium.Quaternion();

            // Ground
            (pos.x = 0), (pos.y = -0.5), (pos.z = 0);
            (quat.x = 0), (quat.y = 0), (quat.z = 0), (quat.w = 1);
            var ground = createParalellepiped(
              40,
              1,
              40,
              0,
              pos,
              quat,
              new MeshPhongMaterial({
                defaultColor: "rgb(125,125,125)",
                side: MeshMaterial.Sides.DOUBLE,
                translucent: false,
              })
            );

            // Wall
            var brickMass = 0.5;
            var brickLength = 1.2;
            var brickDepth = 0.6;
            var brickHeight = brickLength * 0.5;
            var numBricksLength = 6;
            var numBricksHeight = 8;
            var z0 = -numBricksLength * brickLength * 0.5;

            (pos.x = 0), (pos.y = brickHeight * 0.5), (pos.z = z0);
            (quat.x = 0), (quat.y = 0), (quat.z = 0), (quat.w = 1);
            for (var j = 0; j < numBricksHeight; j++) {
              var oddRow = j % 2 == 1;

              pos.z = z0;

              if (oddRow) {
                pos.z -= 0.25 * brickLength;
              }

              var nRow = oddRow ? numBricksLength + 1 : numBricksLength;
              for (let i = 0; i < nRow; i++) {
                var brickLengthCurrent = brickLength;
                var brickMassCurrent = brickMass;
                if (oddRow && (i == 0 || i == nRow - 1)) {
                  brickLengthCurrent *= 0.5;
                  brickMassCurrent *= 0.5;
                }

                var brick = createParalellepiped(brickDepth, brickHeight, brickLengthCurrent, brickMassCurrent, pos, quat, createMaterial());

                if (oddRow && (i == 0 || i == nRow - 2)) {
                  pos.z += 0.75 * brickLength;
                } else {
                  pos.z += brickLength;
                }
              }
              pos.y += brickHeight;
            }

            // The cloth
            // Cloth graphic object
            var clothWidth = 4;
            var clothHeight = 3;
            var clothNumSegmentsZ = clothWidth * 5;
            var clothNumSegmentsY = clothHeight * 5;
            var clothSegmentLengthZ = clothWidth / clothNumSegmentsZ;
            var clothSegmentLengthY = clothHeight / clothNumSegmentsY;
            var clothPos = new Cesium.Cartesian3(-3, 3, 2);

            var clothGeometry = new PlaneBufferGeometry(clothWidth, clothHeight, clothNumSegmentsZ, clothNumSegmentsY);

            var clothMaterial = new MeshPhongMaterial({
              defaultColor: "rgb(255,255,255)",
              side: MeshMaterial.Sides.DOUBLE,
              translucent: false,
            });

            cloth = new Mesh(clothGeometry, clothMaterial);
            GeometryUtils.rotateY(cloth.geometry, Math.PI * 0.5);
            GeometryUtils.translate(cloth.geometry, clothPos.x, clothPos.y + clothHeight * 0.5, clothPos.z - clothWidth * 0.5);
            GeometryUtils.computeVertexNormals(cloth.geometry);
            meshVisualizer.add(cloth);

            // Cloth physic object
            var softBodyHelpers = new Ammo.btSoftBodyHelpers();
            var clothCorner00 = new Ammo.btVector3(clothPos.x, clothPos.y + clothHeight, clothPos.z);
            var clothCorner01 = new Ammo.btVector3(clothPos.x, clothPos.y + clothHeight, clothPos.z - clothWidth);
            var clothCorner10 = new Ammo.btVector3(clothPos.x, clothPos.y, clothPos.z);
            var clothCorner11 = new Ammo.btVector3(clothPos.x, clothPos.y, clothPos.z - clothWidth);
            var clothSoftBody = softBodyHelpers.CreatePatch(
              physicsWorld.getWorldInfo(),
              clothCorner00,
              clothCorner01,
              clothCorner10,
              clothCorner11,
              clothNumSegmentsZ + 1,
              clothNumSegmentsY + 1,
              0,
              true
            );
            var sbConfig = clothSoftBody.get_m_cfg();
            sbConfig.set_viterations(10);
            sbConfig.set_piterations(10);

            clothSoftBody.setTotalMass(0.9, false);
            Ammo.castObject(clothSoftBody, Ammo.btCollisionObject)
              .getCollisionShape()
              .setMargin(margin * 3);
            physicsWorld.addSoftBody(clothSoftBody, 1, -1);
            cloth.physicsBody = clothSoftBody;
            // Disable deactivation
            clothSoftBody.setActivationState(4);

            // The base
            var armMass = 2;
            var armLength = 3 + clothWidth;
            var pylonHeight = clothPos.y + clothHeight;
            var baseMaterial = new MeshPhongMaterial({
              defaultColor: "rgb(255,255,0)",
              side: MeshMaterial.Sides.DOUBLE,
              translucent: false,
            });
            (pos.x = clothPos.x), (pos.y = 0.1), (pos.z = clothPos.z - armLength);
            (quat.x = 0), (quat.y = 0), (quat.z = 0), (quat.w = 1);
            var base = createParalellepiped(1, 0.2, 1, 0, pos, quat, baseMaterial);

            (pos.x = clothPos.x), (pos.y = 0.5 * pylonHeight), (pos.z = clothPos.z - armLength);
            var pylon = createParalellepiped(0.4, pylonHeight, 0.4, 0, pos, quat, baseMaterial);

            (pos.x = clothPos.x), (pos.y = pylonHeight + 0.2), (pos.z = clothPos.z - 0.5 * armLength);
            var arm = createParalellepiped(0.4, 0.4, armLength + 0.4, armMass, pos, quat, baseMaterial);

            // Glue the cloth to the arm
            var influence = 0.5;
            clothSoftBody.appendAnchor(0, arm.physicsBody, false, influence);
            clothSoftBody.appendAnchor(clothNumSegmentsZ, arm.physicsBody, false, influence);

            // Hinge constraint to move the arm
            var pivotA = new Ammo.btVector3(0, pylonHeight * 0.5, 0);
            var pivotB = new Ammo.btVector3(0, -0.2, -armLength * 0.5);
            var axis = new Ammo.btVector3(0, 1, 0);
            hinge = new Ammo.btHingeConstraint(pylon.physicsBody, arm.physicsBody, pivotA, pivotB, axis, axis, true);
            physicsWorld.addConstraint(hinge, true);
          }

          function createParalellepiped(sx, sy, sz, mass, pos, quat, material) {
            var threeObject = new Mesh(
              Cesium.BoxGeometry.fromDimensions({
                dimensions: new Cesium.Cartesian3(sx, sy, sz),
                vertexFormat: new Cesium.VertexFormat({
                  position: true,
                  st: true,
                  normal: true,
                }),
              }),
              material
            );

            threeObject.quaternion = new Cesium.Quaternion();
            threeObject.geometry.attributes.uv = threeObject.geometry.attributes.st;
            threeObject.geometry.attributes.st = undefined;
            var shape = new Ammo.btBoxShape(new Ammo.btVector3(sx * 0.5, sy * 0.5, sz * 0.5));
            shape.setMargin(margin);

            createRigidBody(threeObject, shape, mass, pos, quat);

            return threeObject;
          }

          function createRigidBody(threeObject, physicsShape, mass, pos, quat) {
            Cesium.Cartesian3.clone(pos, threeObject.position);
            Cesium.Quaternion.clone(quat, threeObject.quaternion);

            var transform = new Ammo.btTransform();
            transform.setIdentity();
            transform.setOrigin(new Ammo.btVector3(pos.x, pos.y, pos.z));
            transform.setRotation(new Ammo.btQuaternion(quat.x, quat.y, quat.z, quat.w));
            var motionState = new Ammo.btDefaultMotionState(transform);

            var localInertia = new Ammo.btVector3(0, 0, 0);
            physicsShape.calculateLocalInertia(mass, localInertia);

            var rbInfo = new Ammo.btRigidBodyConstructionInfo(mass, motionState, physicsShape, localInertia);
            var body = new Ammo.btRigidBody(rbInfo);

            threeObject.physicsBody = body;

            meshVisualizer.add(threeObject);

            if (mass > 0) {
              rigidBodies.push(threeObject);

              // Disable deactivation
              body.setActivationState(4);
            }

            physicsWorld.addRigidBody(body);
          }

          //deltaTime单位是：秒/s
          function updatePhysics(deltaTime) {
            // Hinge control
            hinge.enableAngularMotor(true, 0.8 * armMovement, 50);

            // Step world
            physicsWorld.stepSimulation(deltaTime, 10);

            // Update cloth
            var softBody = cloth.physicsBody;
            var clothPositions = cloth.geometry.attributes.position.values;
            var numVerts = clothPositions.length / 3;
            var nodes = softBody.get_m_nodes();
            var indexFloat = 0;
            for (let i = 0; i < numVerts; i++) {
              var node = nodes.at(i);
              var nodePos = node.get_m_x();
              clothPositions[indexFloat++] = nodePos.x();
              clothPositions[indexFloat++] = nodePos.y();
              clothPositions[indexFloat++] = nodePos.z();
            }

            cloth.geometry.attributes.position.needsUpdate = true;
            if (cloth.geometry.primitiveType == Cesium.PrimitiveType.TRIANGLES) {
              // Cesium.GeometryPipeline.computeNormal(cloth.geometry);
              GeometryUtils.computeVertexNormals(cloth.geometry);
            }

            // Update rigid bodies
            for (let i = 0, il = rigidBodies.length; i < il; i++) {
              var objGraph = rigidBodies[i];
              var objPhys = objGraph.physicsBody;
              var ms = objPhys.getMotionState();
              if (ms) {
                ms.getWorldTransform(transformAux1);
                var p = transformAux1.getOrigin();
                var q = transformAux1.getRotation();
                objGraph.position.x = p.x();
                objGraph.position.y = p.y();
                objGraph.position.z = p.z();
                objGraph.quaternion.x = q.x();
                objGraph.quaternion.y = q.y();
                objGraph.quaternion.z = q.z();
                objGraph.quaternion.w = q.w();
                //objGraph.needsUpdate = true;
                objGraph.modelMatrixNeedsUpdate = true;
              }
            }
          }

          var start = false;
          function initInput() {
            window.addEventListener(
              "keydown",
              function (event) {
                if (!start) {
                  return;
                }
                switch (event.keyCode) {
                  // Q
                  case 81:
                    armMovement = 1;
                    break;

                  // A
                  case 65:
                    armMovement = -1;
                    break;
                }
              },
              false
            );

            window.addEventListener(
              "keyup",
              function (event) {
                armMovement = 0;
              },
              false
            );
          }

          var startTime = new Date();
          function update(frameState) {
            var deltaTime = (new Date() - startTime) / 1000.0;
            updatePhysics(deltaTime);
            startTime = new Date();
          }

          var init = false;
          setTimeout(function () {
            if (!init) {
              initPhysics();

              createObjects();

              initInput();
              init = true;
            }
            if (!start) {
              meshVisualizer.beforeUpdate.addEventListener(update);
              start = true;
            } else {
              meshVisualizer.beforeUpdate.removeEventListener(update);
              start = false;
            }
          }, 1000 * 3);
        });

        //});
      }
    </script>
  </body>
</html>
